12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Removed commented-out stuff

release/4.3a0
Frank 2015-10-19 14:44:19 -07:00
parent 5adcd6b696
commit 5faf09726b
1 changed files with 0 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

49
gtsam/geometry/tests/testUnit3.cpp
View File

@ -34,7 +34,6 @@
#include <boost/bind.hpp>
#include <boost/foreach.hpp>
#include <boost/random.hpp>
//#include <boost/thread.hpp>
#include <boost/assign/std/vector.hpp>
#include <cmath>
@ -345,14 +344,10 @@ TEST(Unit3, localCoordinates_retract) {
Vector minXiLimit = Vector2(-1.0, -1.0), maxXiLimit = Vector2(1.0, 1.0);
for (size_t i = 0; i < numIterations; i++) {
// Sleep for the random number generator (TODO?: Better create all of them first).
// boost::this_thread::sleep(boost::posix_time::milliseconds(0));
// Create the two Unit3s.
// NOTE: You can not create two totally random Unit3's because you cannot always compute
// between two any Unit3's. (For instance, they might be at the different sides of the circle).
Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit)));
// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit)));
Vector v12 = randomVector(minXiLimit, maxXiLimit);
Unit3 s2 = s1.retract(v12);
@ -375,13 +370,9 @@ TEST(Unit3, localCoordinates_retract_expmap) {
Vector minXiLimit = (Vector(2) << -M_PI, -M_PI).finished(), maxXiLimit = (Vector(2) << M_PI, M_PI).finished();
for (size_t i = 0; i < numIterations; i++) {
// Sleep for the random number generator (TODO?: Better create all of them first).
// boost::this_thread::sleep(boost::posix_time::milliseconds(0));
// Create the two Unit3s.
// Unlike the above case, we can use any two Unit3's.
Unit3 s1(Point3(randomVector(minSphereLimit, maxSphereLimit)));
// Unit3 s2 (Point3(randomVector(minSphereLimit, maxSphereLimit)));
Vector v12 = randomVector(minXiLimit, maxXiLimit);
// Magnitude of the rotation can be at most pi
@ -397,46 +388,6 @@ TEST(Unit3, localCoordinates_retract_expmap) {
}
}
//*******************************************************************************
//TEST( Pose2, between )
//{
// // <
// //
// // ^
// //
// // *--0--*--*
// Pose2 gT1(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y
// Pose2 gT2(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x
//
// Matrix actualH1,actualH2;
// Pose2 expected(M_PI/2.0, Point2(2,2));
// Pose2 actual1 = gT1.between(gT2);
// Pose2 actual2 = gT1.between(gT2,actualH1,actualH2);
// EXPECT(assert_equal(expected,actual1));
// EXPECT(assert_equal(expected,actual2));
//
// Matrix expectedH1 = (Matrix(3,3) <<
// 0.0,-1.0,-2.0,
// 1.0, 0.0,-2.0,
// 0.0, 0.0,-1.0
// );
// Matrix numericalH1 = numericalDerivative21<Pose2,Pose2,Pose2>(testing::between, gT1, gT2);
// EXPECT(assert_equal(expectedH1,actualH1));
// EXPECT(assert_equal(numericalH1,actualH1));
// // Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx
// EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1));
//
// Matrix expectedH2 = (Matrix(3,3) <<
// 1.0, 0.0, 0.0,
// 0.0, 1.0, 0.0,
// 0.0, 0.0, 1.0
// );
// Matrix numericalH2 = numericalDerivative22<Pose2,Pose2,Pose2>(testing::between, gT1, gT2);
// EXPECT(assert_equal(expectedH2,actualH2));
// EXPECT(assert_equal(numericalH2,actualH2));
//
//}
//*******************************************************************************
TEST(Unit3, Random) {
boost::mt19937 rng(42);